Cooperative System between a Position-controlled Robot and a Crane with Three Wires. - Hisashi Osumi; Tamio Arai; Naomi Yoshida; Yusi Shen; Hajime Asama; Hayato Kaetsu; Isao Endo (DARS, 1994)

Manipulability Indices in Multi-wire Driven Mechanisms. - Yusi Shen; Hisashi Osumi; Tamio Arai (DARS, 1994)

Set of manipulating forces in wire driven systems. - Yusi Shen; Hisashi Osumi; Tamio Arai (IROS, 1994)